KR101256285B1 - Cam-cam follower type safety unit with nonlinear stiffness for sensing torque applied to the unit - Google Patents

Abstract

The present invention is connected to the input portion reduction gear including a hollow shaft for transmitting the input torque; A non-linear stiffness including a base plate connected to the deceleration unit to receive a deceleration torque, and outputting power to a force less than a predetermined size input through the base plate, but limiting output transmission to a force above a preset size. Manual safety device having a; A cam-based integrated safety joint unit having a torque sensing and deceleration function comprising: a torque sensor unit connected to the passive safety unit and detecting a torque received from the passive safety unit and connected to an output unit to transmit an output torque. to provide.

Description

CAM-CAM FOLLOWER TYPE SAFETY UNIT WITH NONLINEAR STIFFNESS FOR SENSING TORQUE APPLIED TO THE UNIT}

The present invention relates to a safety device, and more particularly to a safety unit of a simple structure that can be compact in a simple structure and can prevent the occurrence of a safety accident.

The demand for robots is not only for industrial use, but also for home use, and accordingly, research on robots is actively progressing. Particularly, the joint movement is an important part of the robot movement in the movement of the robot. In the conventional art, the robot requires a complicated structure and a considerable mounting space for rigidity and position control.

These mechanical devices are widely used not only in industrial facilities but also in everyday life. Accordingly, securing of safety is a most important design factor in designing devices such as robots. The safety device mounted on the robot is classified into a manual control system and an active control system according to the manner in which the robot is mounted. The active control system detects an external impact and operates a predetermined safety apparatus accordingly, . That is, when a collision occurs between the robot and an external object, the sensor or the like senses a collision, a collision intensity, and the like, and transmits it to the control unit. The control unit generates a predetermined control signal based on the sensed signal, The actuator performs a function corresponding to an external shock by operating in accordance with a predetermined control signal from the control unit. The manual control method corresponds to an external shock through a mechanical element such as a spring and / or a damper against a shock input without using a sensor and an actuator.

The active control method has the advantage of being able to proactively respond to various external shocks to secure versatility, but most control cases in which the robot arm collides with an external object require considerable control time required for sensor detection and control signal output. Since the impact is greater than the physical time constraint occurring within a time of about 10 ms to 20 ms, it is difficult to achieve smooth active control.

In the case of the manual control method, there is an advantage of cost reduction, but it is difficult to control the nonlinear motion. In other words, when a manual control component such as a sprue is disposed on the robot arm, deformation occurs in proportion to the external force even when shock absorption is not required, and the weight of an object acting on the spring even when shock absorption is required. In proportion to the deflection of the robot arm, it is accompanied with the problem of securing the desired safety function and limiting the increase in design freedom.

The present invention is a safety unit for implementing a passive control method and an active control method having a simpler structure, which enables quick and safe operation when colliding with an object, thereby preventing or minimizing physical damage such as damage to a collision object or human injury. It is an object of the present invention to provide a cam-based integrated safety joint unit with a torque sensing and deceleration function of a mechanical structure.

The present invention for achieving the above object, the reduction unit including a hollow shaft connected to the input unit for transmitting the input torque; A non-linear stiffness including a base plate connected to the deceleration unit to receive a deceleration torque, and outputting power to a force less than a predetermined size input through the base plate, but limiting output transmission to a force above a preset size. Manual safety device having a; A cam-based integrated safety joint unit having a torque sensing and deceleration function comprising: a torque sensor unit connected to the passive safety unit and detecting a torque received from the passive safety unit and connected to an output unit to transmit an output torque. to provide.

In the cam-based integrated safety joint unit with the torque sensing and deceleration function, the deceleration unit: a reduction unit housing through which the hollow shaft is disposed, the deceleration unit housing is disposed inside the reduction unit housing and connected to the hollow shaft from the input unit; It may be provided with a harmonic gear reducer for reducing the input torque, and a connecting plate connected to the harmonic gear reducer to transfer the reduced deceleration torque to the base plate.

In the cam-based integrated safety joint unit with torque sensing and deceleration function, the harmonic gear reducer includes: a wave generator connected to the hollow shaft, a circular spline disposed in a fixed position in the reduction housing and a tooth formed on an inner circumferential surface thereof; And a flag spline disposed at an outer circumference of the wave generator and having an outer circumferential surface engaged with the circular spline and connected to the connection plate.

In the cam-based integrated safety joint unit with the torque sensing and deceleration function, the hollow shaft: a hollow shaft reduction through body disposed through the wave generator and the circular spline, connected to the hollow shaft reduction through body and A hollow shaft deceleration connection body connected to the wave generator, and a hollow shaft support body disposed opposite the hollow shaft deceleration through body with the hollow shaft deceleration connection body interposed therebetween and through which the flap spline and the connecting plate are disposed. It may be.

In the cam-based integrated safety joint unit with the torque sensing and deceleration function, the manual safety device unit: a passive safety device housing, the base plate is rotatably mounted, and a linear guide part disposed on one surface of the base plate And a roller block portion having a roller which can be linearly guided by the linear guide portion, and an inclined cam which forms a non-contact characteristic while forming a state of constant contact with the roller and receiving a reduction torque through the roller. have.

In the cam-based integrated safety joint unit with the torque sensing and deceleration function, the linear guide portion is provided with a linear guide that is positioned fixed to the base plate and a linear guide block that is linearly movable on the linear guide. It may be.

In the cam-based integrated safety joint unit with torque sensing and deceleration function, a pair of the linear guide and the linear guide block may be arranged in parallel.

In the cam-based integrated safety joint unit with the torque sensing and deceleration function, the roller block portion: a shaft fixing block disposed on the base plate, and a linear guide block disposed on the linear guide block of the linear guide portion It may be provided with a roller block which is movable and is disposed on one surface, and a spring module supported by the shaft fixing block and elastically supporting the roller block.

In the cam-based integrated safety joint unit with torque sensing and deceleration function, the spring module comprises: a spring shaft, one end of which is mounted to the shaft fixing block, the spring module being disposed through the spring shaft and one end of the shaft fixing block; And the other end may be provided with a spring in contact with the roller block to elastically support the roller block.

In the cam-based integrated safety joint unit with torque sensing and deceleration functions, the inclined cam may have an inclined surface which forms a constant contact state with the roller and forms an output torque having a nonlinear characteristic.

In the cam-based integrated safety joint unit with the torque sensing and deceleration function, the inclined cam is disposed in the rear of the inclined surface and the relative between the roller and the inclined cam when a reduction torque of a predetermined size or more is transmitted through the roller. A semicircular cam buckling portion for increasing the rotational displacement may be provided.

In the cam-based integrated safety joint unit with torque sensing and deceleration function, the inclined cam is disposed between the inclined surface and the cam buckling portion and the constant relative rotation stops before the relative rotation displacement between the roller and the inclined cam is increased. It may be provided with a cam threshold for executing a function.

In the cam-based integrated safety joint unit with torque sensing and deceleration functions, the inclined surface and the roller may be symmetrically arranged in pairs.

In the cam-based integrated safety joint unit having the torque sensing and deceleration function, the torque sensor unit: a torque sensor body portion receiving torque from the passive safety device portion, and disposed on the torque sensor body portion is the torque sensor body portion It may be provided with a torque sensor for sensing the torque transmitted from the deformation amount.

In the cam-based integrated safety joint unit having the torque sensing and deceleration function, the torque sensor body portion: a torque sensor hub connected to the passive safety device, a torque sensor rim connected to the output, and the torque sensor hub And a torque sensor spoke for connecting the torque sensor rim, and the torque sensor may be disposed on the torque sensor spoke.

The cam-based integrated safety joint unit with torque sensing and deceleration function according to the present invention having the configuration as described above has the following effects.

First, the cam-based integrated safety joint unit with a torque sensing and deceleration function according to the present invention maintains rigidity below a predetermined size, but through a nonlinear stiffness characteristic that executes a torque absorbing function when a torque of a predetermined size or more is applied. Safety can be achieved when colliding with an external object.

Secondly, the cam-based integrated safety joint unit with torque sensing and deceleration function according to the present invention provides a safety unit having a nonlinear rigidity through a passive control component that overcomes physical constraints, and has a torque sensor unit to implement active control. By providing a torque sensing structure, which is the basis of, to provide an active control base, it is possible to provide a more efficient and stable safety device to achieve an integrated control implementation.

Third, the cam-based integrated safety joint unit with torque sensing and deceleration function according to the present invention minimizes the installation space through a compact configuration, thereby providing the ultimate device of the space to which the cam-based integrated safety joint unit with torque sensing and deceleration function is mounted. It is also possible to enhance the design freedom to spatial freedom.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

1 is a schematic perspective view of a cam-based integrated safety joint unit with torque sensing and deceleration functions according to an embodiment of the present invention.
2 is a schematic perspective perspective view of a cam-based integrated safety joint unit with torque sensing and deceleration functions according to an embodiment of the present invention.
3A and 3B are schematic perspective perspective views of a structure in which a hollow hollow shaft of a cam-based integrated safety joint unit with torque sensing and deceleration function is excluded according to an embodiment of the present invention.
4A to 4C are schematic state diagrams showing a schematic operating state of a cam-based integrated safety joint unit having torque sensing and deceleration functions according to an embodiment of the present invention.
5 and 6 is a schematic state diagram illustrating an operation process of the inclined cam of the cam-based integrated safety joint unit with torque sensing and deceleration functions according to an embodiment of the present invention.
7 is a diagram illustrating nonlinearity of rotational displacement of an inclined cam of a cam-based integrated safety joint unit having torque sensing and deceleration functions according to an embodiment of the present invention.
FIG. 8 is a schematic state diagram showing an inclined cam contact surface in contact with a roller of a cam-based integrated safety joint unit having torque sensing and deceleration functions according to an embodiment of the present invention.
9A and 9B are schematic perspective views of a reduction unit of a cam-based integrated safety joint unit having torque sensing and deceleration functions according to an embodiment of the present invention.
10 is a schematic exploded perspective view of the reduction unit of the cam-based integrated safety joint unit with torque sensing and deceleration function according to an embodiment of the present invention.
11A and 11B are schematic perspective views of a torque sensor unit of a cam-based integrated safety joint unit having torque sensing and deceleration functions according to an embodiment of the present invention.
12 is a schematic exploded perspective view of a passive safety device housing and a torque sensor unit of a cam-based integrated safety joint unit having torque sensing and deceleration functions according to an embodiment of the present invention.
FIG. 13 is a schematic perspective view of a torque sensor body part of a cam-based integrated safety joint unit having torque sensing and deceleration functions according to an embodiment of the present invention.
14 is a state diagram illustrating a state change of the torque sensor body part of the cam-based integrated safety joint unit having torque sensing and deceleration functions according to an embodiment of the present invention.

Hereinafter, a cam-based integrated safety joint unit having a torque sensing and deceleration function according to the present invention will be described with reference to the drawings.

1 is a schematic perspective view of a cam-based integrated safety joint unit with torque sensing and deceleration function according to an embodiment of the present invention, Figure 2 is a cam-based with torque sensing and deceleration function according to an embodiment of the present invention A schematic projection perspective view of an integrated safety joint unit is shown, and FIGS. 3A and 3B are schematic views of a structure in which a hollow hollow shaft of a cam-based integrated safety joint unit with torque sensing and deceleration functions is excluded in accordance with an embodiment of the present invention. An in-projection perspective view is shown, and FIGS. 4A-4C are schematic state diagrams illustrating a schematic operating state of a cam-based integrated safety joint unit with torque sensing and deceleration functions in accordance with one embodiment of the present invention. 6 shows the operation process of the inclined cam of the cam-based integrated safety joint unit with torque sensing and deceleration functions according to an embodiment of the present invention. A schematic state diagram is shown, and FIG. 7 is a diagram showing the nonlinearity of the rotational displacement of the inclined cam of the cam-based integrated safety joint unit with torque sensing and deceleration function according to an embodiment of the present invention. 8 is a schematic state diagram showing an inclined cam contact surface in contact with a roller of a cam-based integrated safety joint unit having torque sensing and deceleration functions according to an embodiment of the present invention, and FIGS. 9A and 9B illustrate one embodiment of the present invention. A schematic projection perspective view of the reduction unit of the cam-based integrated safety joint unit with torque sensing and deceleration function according to the embodiment is shown, and FIG. 10 is a cam-based integrated safety joint unit with torque sensing and deceleration function according to an embodiment of the present invention. A schematic exploded perspective view of the reduction unit is shown, and FIGS. 11A and 11B show torque sensing and deceleration functions according to an embodiment of the present invention. A schematic perspective view of the torque sensor portion of the cam-based integrated safety joint unit is shown, and FIG. 12 shows a housing and a torque sensor of the passive safety device unit of the cam-based integrated safety joint unit having torque sensing and deceleration functions according to an embodiment of the present invention. A schematic exploded perspective view of the part is shown, FIG. 13 is a schematic perspective view of a torque sensor body part of a cam-based integrated safety joint unit with torque sensing and deceleration function according to an embodiment of the present invention, and FIG. A state diagram showing a state change of a schematic torque sensor body portion of a cam-based integrated safety joint unit with torque sensing and deceleration functions in accordance with one embodiment is shown.

The cam-based integrated safety joint unit 10 having torque sensing and deceleration functions according to the present invention maintains the same rigidity as a single rigid body when an external force of less than a predetermined value is applied, but is applied to an external force when an external force of a predetermined value or more is applied. By executing the bending function, it causes a change in appearance to prevent breakage or injury when contacting an external object or a person, and simultaneously detects torque output through an output unit, thereby enabling active control.

The cam-based integrated safety joint unit 10 having a torque sensing and deceleration function according to an embodiment of the present invention includes a reduction unit 100, a manual safety device unit 200, and a torque sensor unit 300. 2 is a perspective view showing a cam-based integrated safety joint unit 10 with torque sensing and deceleration functions according to the present invention, and FIGS. 3A and 3B show a cam-based integrated safety joint unit 10 with torque sensing and deceleration functions. Shown are front and back transparent perspective views, respectively, with the hollow shaft excluded).

As shown in FIG. 1, the reduction unit 100 includes a hollow shaft 140 connected to the input unit 1 to receive an input torque and transmit the input torque back to another component. The reduction unit 100 reduces the input torque to generate a reduction torque that is converted into a high output torque and transmits it to the passive safety device 200.

The reduction unit 100 includes a reduction unit housing 110, a harmonic gear reducer 130, and a connection plate 150 in addition to the hollow shaft 140. The reduction unit housing 110 is connected to the passive safety device housing 210 of the passive safety device 200 to be described below to form an internal space. The reduction gear housing through hole 111 is formed in the center of the reduction gear housing 110. Through this, one end of the hollow shaft 140 is disposed through and torque input is made through the connection with the input part 1. A bearing mounting unit 113 is disposed on the inner side of the reduction unit housing 110, and a bearing 121 is disposed in the bearing mounting unit 113 to rotatably support the hollow shaft 140.

In this embodiment, the reduction unit 100 is implemented as a harmonic drive, various configurations are possible in the range to give a predetermined deceleration function. The harmonic gear reducer 130 in this embodiment is disposed inside the reduction housing 110 and is connected to the hollow shaft 140 to reduce the input torque from the input unit 1 to the other components, that is, passive safety devices The deceleration torque is transmitted to the unit 200 side.

The harmonic gear reducer 130 includes a wave generator 132, a circular spline 131, and a flag spline 133. The wave generator 132 is connected to the hollow shaft 140 to receive an input torque.

More specifically, the hollow shaft 140 includes a hollow shaft reduction through body 141, a hollow shaft reduction connection body 143, and a hollow shaft support body 145, with the hollow shaft reduction connection body 143 interposed therebetween. The hollow shaft deceleration through body 141 and the hollow shaft support body 145 are disposed opposite each other. In this embodiment, they take a configuration that is formed integrally, but may be formed of a structure that is formed as individual components and fastened to each other.

The hollow shaft deceleration through body 141 is disposed through the wave generator 132 and the circular spline 131, the hollow shaft deceleration connecting body 143 is connected to the hollow shaft deceleration through body 141 and the wave generator 132 The hollow shaft deceleration support body 145 has a structure in which the flag spline 133 and the connecting plate 150 to be penetrated are disposed therethrough. The diameter of the hollow shaft accelerated connection body 143 preferably has a larger value than the diameter of the hollow shaft decelerated through body 141 and the hollow shaft decelerated support body 145.

On the other hand, the circular spline 131 of the harmonic gear reducer 130 is positioned fixed to the reduction housing 110, the tooth is formed on the inner peripheral surface, the flag spline 133 is disposed on the outer periphery of the wave generator 132 The outer circumferential surface is meshed with the circular spline 131 and connected with the connecting plate 150. As described above, the wave generator through hole 132a is formed at the center of the wave generator 132 so that the hollow shaft reduction through body 141 of the hollow shaft 140 is disposed therethrough, and the bearing through hole 121a is provided in the bearing 121. ) Is formed so that the hollow shaft reduction through-body 141 is disposed through and mounted to the reduction unit housing 110 to rotatably support the hollow shaft 140.

The connection plate 150 is connected to the flag spline 133 of the harmonic gear reducer 130 and transmits the deceleration torque reduced by the harmonic gear reducer 130 to the base plate 220 of the passive safety device 200.

In addition to the base plate 220 connected to the connection plate 150 of the reduction unit 100, the passive safety device 200 may include a passive safety device housing 210, a straight guide 230, and a roller block 240, 250, 270, 280. ) And an inclined cam 260.

The passive safety device housing 210 is connected to the reduction housing 110 of the reduction unit 100, in some cases the reduction housing and the passive safety device housing may be integrally formed. The other components are arranged in the internal space formed by the passive safety device housing 210, and the base plate 220 is also rotatably mounted in the passive safety device housing 2100. That is, the connection plate 150 and The base plate 220 is connected to each other, the connecting plate bearing end 151 and the base plate bearing end 221 are formed on each of the opposite surfaces of the connecting plate 150 and the base plate 220, respectively, to the lady And a cross bearing 291 in which the outer circumferential surface is stably supported and mounted on the passive safety device housing 210. Accordingly, the connecting plate 150 and the base plate 220 are configured as the passive safety device housing ( 210 and / or may be stably disposed in an internal space formed by the reduction unit housing 110.

 The straight guide part 230 is disposed on one surface of the base plate 220. The straight guide part 230 includes a straight guide 231 and a straight guide block 232. The linear guide 231 is disposed to be fixed to the base plate 220, and the linear guide block 232 is disposed to be linearly movable on the linear guide 231. In the present embodiment, the linear guide and the linear guide block may take a structure in which the pair is arranged in parallel to each other to implement a safety joint function having stable rotation in both directions and predetermined nonlinear stiffness characteristics.

The roller block portions 240, 250, 270 and 280 have rollers 280 that can be linearly guided by the linear guide portion 230. The roller block portions 240, 250, 270 and 280 have a shaft fixing block 250 and a roller block in addition to the roller 280. 270, and a spring module 240. The shaft fixing block 250 is positioned and fixed to the base plate 220, and the shaft fixing block 250 supports a spring module 240 for providing elastic support to the roller block 270, which will be described later. Run

The roller block 270 is disposed on the straight guide block 232 of the straight guide portion 230 and is linearly movable together with the straight guide block 232. The roller block 270 is provided with a roller 280 on one surface, the roller 280 is at least the outer peripheral surface is implemented by a predetermined elastically deformable material when the contact with the inclined cam 260 is generated noise or wear, etc. It can also prevent damage. The roller 280 is rotatably mounted on the roller block 270.

The spring module 240 is supported by the shaft fixing block 250 and elastically supports the roller block 270. The spring module 240 includes a spring shaft 242 and a spring 241, one end of which is mounted to the shaft fixing block 250. One end of the spring shaft 242 is inserted into the shaft fixing block receiving portion 251 of the shaft fixing block 250, and in some cases, the shaft bushing 243 may be further provided and mounted. The spring 242 is arranged to penetrate the spring shaft 241, the spring 242 is implemented as a coil spring in this embodiment. One end of the spring 242 is supported in contact with the shaft fixing block 250 side, that is, the shaft fixing block 250 or the shaft bushing 243, and the other end of the spring 242 is supported in contact with the roller block 270. As a result, the spring 242 elastically supports the roller block 270 and the spring shaft 241 implements a guide function to prevent buckling of the spring 242 or the like. Therefore, the roller block 270 elastically supported by the spring module 240 is disposed away from the shaft fixing block 250 by the initial elastic force by the spring 242 when no external force is applied.

The inclined cam 260 forms a constant contact state with the roller 280 disposed on the roller block 270, and receives the deceleration torque converted by the reduction unit 100 through the roller 280, but forms a nonlinear characteristic. . That is, by switching the force due to the deceleration torque received through the interaction with the roller 280 on the roller block 270 supported by the spring 242 of the spring module 240 is elastically deformed to have a non-linear characteristic It transmits non-linearly the deceleration torque to the output part 2 side.

The inclined cam 260 has an inclined cam contact surface 260a, and the inclined cam contact surface 260a is formed in the recess or through hole structure to form a structure in which the roller 280 is stably in contact. The inclined cam contact surface 260a includes an inclined surface 261, a cam buckling portion 262, and a cam critical portion 261, wherein the inclined surface 261 forms an inclined contact state with the roller 280 and output torque of a nonlinear characteristic. To form. The cam buckling portion 262 is disposed at the rear of the inclined surface 261, that is, at a position where the external force is continuously contacted when the external force is continuously applied to a predetermined size or more through the roller 280. Deceleration torques above a predetermined magnitude, i.e., increase the relative rotational displacement between the roller 280 and the inclined cam 260 when a force is transmitted, the cam buckling portion 262 is implemented in a semi-circular shape. When the roller 280 is disposed at the cam buckling portion 262, the roller 280 is stably positioned at the cam buckling portion 262 so that the continuous input torque is transmitted from the input portion 1 side so that the connection plate 150 and the base are secured. The plate 220 is free to rotate, but the torque transmission to the output unit 2 through the inclined cam 260 is limited, and the relative rotation displacement between the roller 280 and the inclined cam 260 is increased.

The contact state between the inclined surface 261 of the inclined cam contact surface 260a of the inclined cam 260 and the roller 280 is conceptually shown in FIG. 5. Among the inclined cam contact surfaces 260a formed on the inclined cam 260, the inclined surfaces 261 and the rollers 280 form an inclined contact state with each other, and the rollers 280 ultimately support a spring for supporting the roller block 270. As the structure elastically supported by 241 is conceptually shown, the contact between the inclined surface 261 and the roller 280 is indicated by the reference numeral α with respect to the x-axis (negative exclusion) based on the coordinate axis xy of the reference point o1. An inclination angle α is indicated, in which the external force F 'by the inclined cam 260 is transmitted to the roller 280 upon contact with the inclined surface 261, which is transmitted to the spring 261.

At this time, a reaction force is formed in the spring 241 to limit the rotation of the inclined cam 26 and to form a static equilibrium state. However, when the torque T caused by the external force input through the inclined cam 26 exceeds a torque of a predetermined magnitude, as shown in FIG. 6, the spring 242 is compressed out of the static equilibrium and the inclined cam ( 260 forms a rotational state so that the rotation angle θ is increased and absorbs the impact due to the torque input through the inclined tamper 260.

Departing from this static equilibrium, the critical torque applied to the inclined cam 260 is related to the stiffness of the spring 241, which is implemented by the coil spring as described above, and also to the inclination angle α. 7 is rotated with respect to a predetermined inclination angle (α) formed by the inclined surface 261 of the inclined cam 260 of the cam-based integrated safety joint unit 10 with torque sensing and deceleration function according to an embodiment of the present invention A diagram showing the output stiffness of the cam-based integrated safety joint unit 10 with torque sensing and deceleration functions as the angle changes is shown. That is, in the case of a simple linear spring, a constant torque stiffness is formed regardless of the rotation angle, that is, the rotational displacement increase, but the output torque through the inclined cam according to the present embodiment has a large output torque stiffness when the rotation angle is small, but rotates. As the angle is increased, the output torque stiffness is lowered. Through such a structure, the nonlinearity of the output torque can be given to prevent or reduce the possibility of a safety accident through rapid decrease in rigidity and increase in shock absorbing force on the output side.

As shown in FIG. 8, the cam threshold 265 is disposed between the inclined surface 261 and the cam buckling portion 262 and is in a constant state before the relative rotational displacement between the roller 280 and the inclined cam 260 is increased. Rotation stop function can be executed.

4A to 4C illustrate a cam operation process for determining the nonlinear characteristics of the cam-based integrated safety joint unit having torque sensing and deceleration functions according to an embodiment of the present invention.

First, when the external force or input torque is smaller than the initial bearing force through the spring, the roller 280 maintains the initial state by maintaining a static equilibrium state. Then, when an external force of a predetermined magnitude or more exceeding the stopping force by the spring 242 starts to be applied, rotation starts to occur in a predetermined direction. As the rotation angle of the inclined cam increases, the nonlinear characteristic of the rigidity of the output torque through the inclined cam is reduced.

In this embodiment, the pair of inclined cam contact surface 260a and the roller 280 may be symmetrically arranged to form stable nonlinear rigid support characteristics in both directions. That is, as shown in FIG. 4C, the same nonlinear stiffness characteristic can be exhibited even in the counterclockwise rotation to implement a safety function.

However, in some cases, a pair of inclined cam contact surface and a roller is provided, the inclined cam contact surface is formed in an asymmetrical structure, and various modifications are possible, such as different nonlinear characteristics in one direction and the other direction.

Meanwhile, the cam-based integrated safety joint unit 10 having the torque sensing and deceleration function of the present invention may include the torque sensor unit 300 to perform an active control function through the sensed torque. As shown in FIGS. 1 and 11, the torque sensor unit 300 is connected to the passive safety device 200 and senses the torque transmitted from the passive safety device 200 and is connected to the output unit 2. Delivers output torque to the outside. The torque sensor unit 300 includes a torque sensor body 320 and a torque sensor 321, which is connected to the inclined cam 260. Torque sensor body 320 has a torque sensor hub 326, torque sensor rim 325 and torque sensor spoke 327, the torque sensor hub 326 is connected to the passive safety device 200, More specifically, the inclined cam 260 of the passive safety device 200 is connected.

A torque sensor rim 325 having a larger diameter is disposed on an outer circumference of the torque sensor hub 326, and the torque sensor rim 325 is connected to an output plate 330 connected to the output unit 2.

The torque sensor spokes 327 are formed radially by connecting the outer circumference of the torque sensor hub 326 and the inner circumference of the torque sensor rim 325.

The torque sensor 321 (see FIG. 13) is implemented as a strain gauge in this embodiment, the torque sensor 321 is disposed on the outer circumferential surface of the torque sensor spoke 327 to detect the deformation amount of the torque sensor spoke 327 to output plate The output torque applied to the 330 side is sensed. That is, the torque sensing signal sensed through the torque sensor 321 is transmitted to the external device, and as shown in FIG. 14, a torque signal body, and more specifically, a torque sensor body based on a sensing amount at a corresponding position of the torque sensor body part. The magnitude of the output torque transmitted through the unit may be calculated, and the calculated output torque value may actively control an external actuator such as a motor to control the input torque input through the input unit through the external controller.

Although not shown here, the connection wiring line of the torque sensor 321 may include the torque sensor body hollow 323 of the torque sensor body 320 and the inclined cam hollow 263 and the base plate hollow of the inclined cam 260. It may be withdrawn to the outside via the hollow shaft hollow 142 of the hollow shaft 140 through the 223, in some cases transferred to the external control unit connected to the external communication through a wireless communication unit disposed in the hollow shaft hollow 142. Various configurations are possible as well.

Here, a cross bearing 292 is disposed between the torque sensor hub 326 and the inclined cam 260 connected thereto, and the crocus bearing 292 has a passive safety device housing through-hole 211 formed therein. The inclined cam and the torque sensor body part 320 are stably rotatably supported by being disposed and supported in the device part housing bearing mounting part 215 (see FIG. 12) inside the device part housing 210.

As described above, the cam-based integrated safety joint unit with torque sensing and deceleration function according to the present invention can secure a predetermined safety function when a torque of more than a preset value is input, and the magnitude of the torque applied to the torque sensor unit. Various configurations are possible to derive various changes in the range of detecting changes.

10 ... Cam-based integrated safety joint unit with torque sensing and deceleration
100 ... Reduction gear 200 ... Manual safety device
300 ... torque sensor

Claims (15)

A reduction unit including a hollow shaft connected to the input unit and transmitting an input torque; A non-linear stiffness including a base plate connected to the deceleration unit to receive a deceleration torque, and outputting power to a force less than a predetermined size input through the base plate, but limiting output transmission to a force above a preset size. Manual safety device having a; And a torque sensor unit connected to the passive safety device unit and sensing torque received from the passive safety device unit, and connected to an output unit to transfer output torque.
The manual safety device includes: a manual safety device housing in which the base plate is rotatably mounted, a linear guide part disposed on one surface of the base plate, and a roller movable linearly by the linear guide part. A cam-based integrated safety joint unit having a torque sensing and deceleration function comprising a roller block portion and an inclined cam which forms a non-contact characteristic while forming a state of constant contact with the roller and receiving a reduction torque through the roller. The method of claim 1,
Wherein the deceleration section comprises:
A reduction unit housing through which the hollow shaft is disposed;
A harmonic gear reducer disposed inside the reduction housing and connected to the hollow shaft to reduce the input torque from the input;
Cam-based integrated safety joint unit having a torque sensing and deceleration function having a connection plate connected to the harmonic gear reducer to transfer the reduced deceleration torque to the base plate. The method of claim 2,
The harmonic gear reducer is:
A wave generator connected to the hollow shaft,
A circular spline disposed on the reduction housing and fixed to an inner circumferential surface thereof;
And a flap spline disposed on an outer circumference of the wave generator and having an outer circumferential surface engaged with the circular spline and connected to the connecting plate. The method of claim 3, wherein
The hollow shaft is:
A hollow shaft reduction through body disposed through the wave generator and the circular spline;
A hollow shaft speed reducing connection body connected to the hollow shaft speed reducing through body and connected to the wave generator;
And a hollow shaft support body disposed opposite to the hollow shaft reduction through body with the hollow shaft reduction connection body interposed therebetween and through which the flag spline and the connection plate are disposed. Integrated safety joint unit. delete The method of claim 1,
The straight guide portion and the straight guide is disposed fixed to the base plate,
Cam-based integrated safety joint unit with a torque sensing and deceleration function characterized in that it comprises a linear guide block which is arranged to be linearly movable on the linear guide. The method according to claim 6,
The straight guide and the straight guide block is a cam-based integrated safety joint unit with a torque sensing and deceleration function, characterized in that the pair is arranged in parallel. The method of claim 1,
The roller block portion:
A shaft fixing block disposed on the base plate;
A roller block disposed on a straight guide block of the straight guide part and linearly movable together with the straight guide block, wherein the roller is disposed on one surface thereof;
And a spring module that is supported by the shaft fixing block and elastically supports the roller block. The method of claim 8,
The spring module is:
A spring shaft, one end of which is mounted to the shaft fixing block;
Cam-based integrated safety with torque sensing and deceleration function, characterized in that it has a spring disposed through the spring shaft and one end with the shaft fixing block, and the other end in contact with the roller block to elastically support the roller block. Articulation unit. The method of claim 1,
And the cam has an inclined surface that forms a constant contact state with the roller and forms an output torque of a non-linear characteristic. The method of claim 10,
The inclined cam is provided with a semi-circular cam buckling to be disposed behind the inclined surface and to increase the relative rotational displacement between the roller and the inclined cam when a reduction torque of a predetermined magnitude or more is transmitted through the roller. Cam-based integrated safety joint unit with torque sensing and deceleration function. 12. The method of claim 11,
The inclined cam has a cam threshold disposed between the inclined surface and the cam buckling portion and having a cam threshold configured to execute a constant relative rotation stop function before the relative rotation displacement between the roller and the inclined cam is increased. Cam-based integrated safety joint unit with deceleration function. The method of claim 10,
The inclined surface and the roller is a cam-based integrated safety joint unit with a torque sensing and deceleration function characterized in that the pair is arranged symmetrically. The method of claim 1,
The torque sensor unit:
A torque sensor body part receiving torque from the passive safety device part;
And a torque sensor disposed in the torque sensor body part and configured to sense a torque transmitted from the deformation amount of the torque sensor body part. The method of claim 14,
The torque sensor body portion:
A torque sensor hub connected to the passive safety device;
A torque sensor rim connected to the output unit;
A torque sensor spoke for connecting the torque sensor hub and the torque sensor rim;
And said torque sensor is disposed in said torque sensor spoke.

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